Method requestTopic

ros/node.go:294–329

(callerId string, topic string, protocols []interface{})

}

func (node *defaultNode) requestTopic(callerId string, topic string, protocols []interface{}) (interface{}, error) {
	node.logger.Debugf("Slave API requestTopic(%s, %s, ...) called.", callerId, topic)
	var code int32
	var message string
	var value interface{}
	if pub, ok := node.publishers[topic]; !ok {
		node.logger.Debug("requestTopic() called with not publishing topic.")
		code = 0
		message = "No such topic"
		value = nil
	} else {
		selectedProtocol := make([]interface{}, 0)
		for _, v := range protocols {
			protocolParams := v.([]interface{})
			protocolName := protocolParams[0].(string)
			if protocolName == "TCPROS" {
				node.logger.Debug("TCPROS requested")
				selectedProtocol = append(selectedProtocol, "TCPROS")
				host, portStr := pub.hostAndPort()
				p, err := strconv.ParseInt(portStr, 10, 32)
				if err != nil {
					return nil, err
				}
				port := int(p)
				selectedProtocol = append(selectedProtocol, host)
				selectedProtocol = append(selectedProtocol, port)
				break
			}
		}
		node.logger.Debug(selectedProtocol)
		code = 1
		message = "Success"
		value = selectedProtocol
	}
	return buildRosApiResult(code, message, value), nil
}

func (node *defaultNode) NewPublisher(topic string, msgType MessageType) Publisher {
	name := node.nameResolver.remap(topic)